本文選題：外骨骼 + 性能評估�。� 參考：《電子科技大學(xué)》2013年碩士論文

【摘要】：外骨骼服是一種可穿戴仿人機械裝置，主要用于增強人體機能。現(xiàn)今對外骨骼技術(shù)的研究方興未艾，其使用范圍也逐漸變得廣泛。外骨骼技術(shù)融合了運動生理學(xué)、機械設(shè)計、可穿戴計算、通信甚至人工智能等學(xué)科內(nèi)容，且更多其他學(xué)科的技術(shù)被應(yīng)用到外骨骼服的研究中。目前對外骨骼技術(shù)的研究主要集中在步態(tài)識別，感知控制以及機械設(shè)計等部分，對外骨骼綜合性能評估研究尚為空白。 本文分析了外骨骼性能評估過程，建立了一個總體評估模型，并引入了模糊綜合評價的方法對外骨骼性能進(jìn)行了評估。首先，從外骨骼服系統(tǒng)自身以及使用者的角度出發(fā)，分析了反映外骨骼性能的指標(biāo)空間以及它們對性能的影響和各自定義，提出了能夠反映外骨骼性能的指標(biāo)，從而建立起評估的指標(biāo)集；其次，根據(jù)指標(biāo)的特點提出了獲取指標(biāo)元素值的方法：對于“硬指標(biāo)”如膝關(guān)節(jié)角度使用加速度傳感器，設(shè)計硬件電路、數(shù)據(jù)通信格式以及數(shù)據(jù)處理程序，成功地搭建了膝關(guān)節(jié)角度測量平臺，對于“軟指標(biāo)”如心理負(fù)荷，，通過對使用者操作外骨骼時的心理負(fù)荷情況進(jìn)行分析，確定了使用NASA-TLX量表的方法來測量心理負(fù)荷的大小，之后，在所設(shè)計的測試平臺上設(shè)計對比實驗，獲取實驗前后指標(biāo)值的變化；最后，在獲得指標(biāo)集元素的指標(biāo)值后，采用模糊綜合評價的方法對性能進(jìn)行綜合評價：根據(jù)所得指標(biāo)值的特點，進(jìn)一步抽象出評估指標(biāo)組成指標(biāo)集合，并通過層次分析法確定了指標(biāo)集中每個元素的權(quán)重，之后選取合適的隸屬度函數(shù)，根據(jù)每個指標(biāo)的分級標(biāo)準(zhǔn)，通過模糊綜合評價的方法，獲取了隸屬度關(guān)系矩陣并采用合適的模糊綜合評價的算子，將權(quán)重集和模糊綜合評價矩陣進(jìn)行算子運算，從而得到了性能評估向量，再根據(jù)最大隸屬度原則，選擇最大值，從而確定了外骨骼綜合性能值。 使用模糊綜合評價的方法對外骨骼性能評估的研究非常有意義：一方面，可以驗證所設(shè)計的外骨骼性能的優(yōu)劣；另一方面，通過調(diào)整設(shè)計參數(shù)并對調(diào)整前后外骨骼綜合性能進(jìn)行對比，可以找出一個最優(yōu)設(shè)計。
[Abstract]:Exoskeleton clothing is a wearable human-like mechanical device, mainly used to enhance human function. Nowadays, exoskeleton technology is in the ascendant, and its application is becoming more and more extensive. Exoskeleton technology combines exercise physiology, mechanical design, wearable computing, communications and even artificial intelligence, and many other disciplines have been applied to the study of exoskeleton clothing. At present, the research of exoskeleton technology is mainly focused on gait recognition, perception control and mechanical design. In this paper, the evaluation process of exoskeleton performance is analyzed, a general evaluation model is established, and a fuzzy comprehensive evaluation method is introduced to evaluate the exoskeleton performance. First of all, from the point of view of exoskeleton clothing system itself and users, this paper analyzes the index space which reflects exoskeleton performance, their influence on performance and their respective definitions, and puts forward the index which can reflect exoskeleton performance. Then the index set is established. Secondly, according to the characteristics of the index, the method of obtaining the index element value is put forward: for the "hard index" such as the knee joint angle using acceleration sensor, the hardware circuit is designed. The data communication format and data processing program successfully set up the knee joint angle measurement platform, for "soft indicators" such as psychological load, through the user operating exoskeleton psychological load analysis, The method of using NASA-TLX scale to measure the psychological load is determined. After that, a comparative experiment is designed on the designed test platform to obtain the change of the index value before and after the experiment. Finally, after obtaining the index value of the index set element, The method of fuzzy comprehensive evaluation is used to evaluate the performance: according to the characteristics of the obtained index value, the index set is abstracted, and the weight of each element in the index set is determined by analytic hierarchy process (AHP). Then select the appropriate membership function, according to the classification standard of each index, through the fuzzy comprehensive evaluation method, obtain the membership relation matrix and adopt the appropriate fuzzy comprehensive evaluation operator. The weight set and the fuzzy comprehensive evaluation matrix are operated on to obtain the performance evaluation vector and then the maximum value is selected according to the principle of maximum membership degree and the comprehensive performance value of exoskeleton is determined. The study of exoskeleton performance evaluation using fuzzy comprehensive evaluation method is of great significance: on the one hand, it can verify the advantages and disadvantages of the designed exoskeleton performance; on the other hand, By adjusting the design parameters and comparing the comprehensive performance of exoskeleton before and after adjustment, an optimal design can be found.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2013
【分類號】：R318.17

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